To select either the convex hull algorithm or the tensorflow prediction change the parameter use_tensorflow_model in the planner_multi_contact_points.launch file.
During the build the qhull source is downloaded from qhull.org and included into the project. We need the qhull source for the convex hull algorithm.
A point cloud file with uneven terrain can be found here: https://github.com/janpmetz/foot_pose_estimator
Launch with: roslaunch multi_contact_point_estimator planner_multi_contact_points.launch